启发点引导D*算法扩展的无人机航迹规划策略

Unmanned Air Vehicle Route Planning Strategy Based on D* Algorithm Extension Guided by Inspiration Point

为了实现无人机从特定方向接近和打击目标点,同时实现航迹最短、规划时间最少,提出了基于启发点引导D*算法扩展的航迹规划方法。分析了航迹规划的约束条件,建立了无人机各威胁因素的区域模型和概率模型,将威胁因素模型叠加至三维环境中,得到了无人机工作的等效三维环境模型;分析了D*算法在具有方向约束航迹规划中遍历搜索和回退扩展的缺陷,提出了启发点引导D*算法扩展方法;给出了启发点的产生方法、启发方案的选择方法、启发点的切换策略等。经过仿真验证,同时使用D*算法、蚁群算法、启发点D*算法进行航迹规划,启发点D*算法规划的航迹最短,算法耗时最少,证明了启发点D*算法在有方向约束航迹规划问题中的有效性。

To come true that UAV approach and attack target from specific direction,reduce route length,and lessen route planning time-cost,route planning strategy based on D*algorithm guided by inspiration point is proposed.Constraint condition of route plan is analyzed.Every threat factor area model and probability model are built.Threat factor model is overlaid to 3d environment,so that equivalent 3d environment model is built.Shortcomings of traversal search and fallback extension in D*algorithm used to plan route with direction constraint are analyzed,and D*algorithm extension guided inspiration point is put forward to solve the shortcomings.Generation method of heuristic point,choosing method of heuristic project,and switching method of heuristic are given.D*algorithm,ant colony algorithm,and heuristic D*algorithm are used to plan route at the same time by simulation,and the result shows that route planned by heuristic D*algorithm is shortest,time-cost of heuristic D*algorithm is minimum,which proves the validity of D*algorithm in planning route when UAV is required to approach target from specific direction.